Xinje DS3 Series User Manual
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Xinje DS3 Series User Manual

Xinje DS3 Series User Manual

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DS3/DS3E/DS3L series servo drive
User manual
WUXI XINJE ELECTRIC CO., LTD.
Serial No. SC3 02 20171010 1.0

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Summary of Contents for Xinje DS3 Series

  • Page 1 DS3/DS3E/DS3L series servo drive User manual WUXI XINJE ELECTRIC CO., LTD. Serial No. SC3 02 20171010 1.0...
  • Page 2 All copyrights reserved by WUXI XINJE ELECTRIC CO., LTD. Any copying, transferring or any other usage is pro hibited. Otherwise Xinje will have the right to pursue legal responsibilities. All rights including patent and pemission of modules and designs are reserved.
  • Page 3 Safety Precautions Be sure to review this section carefully before use this product. In precondition of security, wire the product correctly. The following defines the symbols used in this manual to indicate varying degrees of safety precautions and to identify the corresponding level of hazard inherent to each. Failure to follow precautions provided in this manual can result in serious, possibly even fatal, injury, and/or damage to the persons, products, or related equipment and systems.
  • Page 4 1. Do not connect a three-phase power supply to the U, V, or W output terminals. Doing so may result in injury or fire. 2. Use 2mm wire to grounding the groud terminals. Not doing so may result in electric shock. 3.

  • Page 5: Table Of Contents

    Catalog 1 Checking Product and Part Names ....................... 7 1-1．Checking Products on Delivery ..................... 7 1-2．Product appearance and name rule ..................7 2 Installations ............................11 2-1．Servo motor ......................... 11 2-1-1．Storage Temperature ....................11 2-1-2．Installation Site ......................11 2-1-3．Concentricity ......................11 2-1-4．Orientation ........................
  • Page 6 3-3-1-3．Winding Terminals on Servo motor ..............39 3-3-1-4．CN0, CN1, CN2 terminals ..................39 3-3-1-5. Communication port ....................40 3-3-2．Signal terminals ........................ 42 3-3-2-1. Pulse signal ......................42 3-3-2-2．SI input signal ....................... 43 3-3-2-3. SO output signal ...................... 44 3-3-2-4. Analog input circuit ....................45 3-3-2-5.
  • Page 7 5-5-2. Internal speed setting ....................79 5-5-3. Input signal setting ..................... 79 5-6．Speed control (pulse frequency command) ................81 5-6-1. Control mode selection ....................81 5-6-2. Pulse frequency command ..................81 5-6-3. Command pulse frequency at rated speed ..............81 5-6-4.
  • Page 8 6-3．The experience of gain adjustment ..................108 7 Specification and dimension ......................109 7-1．Servo motor ........................109 7-1-1．Servo motor specification ..................109 7-1-2．Torque-Speed Feature .................... 113 7-1-3．Servo motor dimensions ..................115 7-2．Servo drives ........................119 7-2-1．DS3E, DS3L, DS3-PTA, DS2 comparison table ............ 119 7-2-2．Servo drive dimensions ..................

  • Page 9: Checking Product And Part Names

    Check the motor code marked on the nameplates of the code in drive? servomotor and the parameter P0-33 on the servo drive. If any of the above is faulty or incorrect, contact Xinje or an authorized distributor. 1-2．Product appearance and name rule ...
  • Page 10 WUXI XINJE ELECTRIC CO.,LTD (1) Naming rule DS3 – 2 0P7 - PQA Configure type Suitable motor capacity Voltage level Series name DS3 series high precision servo drive Series DS3E DS3E series filedbus servo drive DS3L series pulse-type servo drive 220V Voltage level 380V 0.2 KW...
  • Page 11  Servo motor (1) Appearance and nameplate Motor label Encoder part Frame Flange Output (transmission) shaft Motor label (2) Naming rule MS -80 ST E- M 02430 B Z S- 2 0P7 - S Shaft length power voltage level body length power-loss brake shaft specification performance parameter code...
  • Page 12 Base number 40, 60, 80, 90, 110, 130, 180, 220 Without oil seal (130ST and above models all Empty have oil seal, so the model without E) Oil seal With oil seal (60ST, 80ST model name has differences) Incremental encoder (2500ppr optical pulse encoder) Line-saving incremental encoder (2500ppr Feedback...

  • Page 13: Installations

    Installations 2-1．Servo motor MS series servomotors can be installed either horizontally or vertically. The service life of the servomotor can be shortened or unexpected problems might occur if it is installed incorrectly or in an inappropriate location. Follow these installation instructions carefully. CAUTION 1．...

  • Page 14: Orientation

    0.2 to 0.3mm 2-2．Servo Drive The DS3 series PQA servo drives are base-type servo drive. Incorrect installation will cause problems. Follow the installation instructions below 2-2-1．Storage Conditions Store the servo drive within -20~+60℃, as long as it is stored with the power cable disconnected.

  • Page 15: Orientation

    Installation Near a Minimize heat radiated from the heating unit as well as any temperature Heating Unit rise caused by natural convection so the temperature around the servo drives does not exceed 50° C. Installation Near a Source Install a vibration isolator beneath the servo drive to avoid subjecting it to of Vibration vibration.
  • Page 16  Servo Drive Orientation Install the servo drive perpendicular to the wall so the front panel containing connectors faces outward.  Cooling As shown in the figure above, allow sufficient space around each servo drive for cooling by cooling fans or natural convection. ...

  • Page 17: Wiring

    Wiring Servo drive cable table: Servo drive Power supply UVW power cable Encoder cable Ground cable cable diameter diameter mm² diameter mm² diameter mm² mm² DS3-20P2-PQA 0.75 0.2 (14 cores) DS3E-20P2-PFA DS3L-20P2-PFA DS3-20P2-PTA DS3-20P4-PQA 0.75 0.2 (14 cores) DS3E-20P4-PFA DS3L-20P4-PFA DS3-20P4-PTA DS3-20P7-PQA 0.75...

  • Page 18: Ds3-Pqa Series

    minute. Since the servo amplifier has a capacitor in the power supply, a high charging current flows for 0.2s when power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate, resulting in unexpected problems. 3-1．DS3-PQA series 3-1-1．Main circuit wiring 3-1-1-1.

  • Page 19: Main Circuit Terminals

    3-1-1-2. Main circuit terminals  DS3-20P2-PQA, DS3-20P4-PQA, DS3-20P7-PQA Terminal Function Explanation Single or 3 phase AC 200 ～ 240V, 50/60Hz Power supply input of L1/L2/L3 Note: for single phase 220V, connect main circuit power supply to L1, L3, otherwise it will affect the power-off retentive function ●...

  • Page 20: Winding Terminals On Servo Motor

     DS3-43P0-PQA Terminal Function Explanation R/S/T Power supply input of 3 phase AC 360～400V, 50/60Hz main circuit ● Vacant Connect the motor Terminal Color brown U、V、 black Motor terminals blue Yellow green Note: the ground line is on the cooling fin, please check it before power on! Do not connect to P+ or P-! P+、D、...
  • Page 21 Speed analog input Encoder output B- GND for analog input Encoder output A+ RS485+ Encoder output A- RS485- Encoder output Z+ DS3 series 5.5KW and 7.5KW servo drive (only these two models use 9-pin port) Name Explanation Name Explanation GND-485 RS485+ RS485-...

  • Page 22: Communication Port

    Explanation RS232 send RS232 receive RS232 ground (5-pin port) Note: please use the cable supplied by XINJE Company Communication parameters: RS232 default communication parameters: baud rate 19200bps, data bit 8, stop bit 1, even parity. Modbus station no. setting: Default...
  • Page 23 0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000 n.x□xx Stop bit At once 0：2 bits, 2：1 bit n.□xxx Parity bit At once 0～2 0:no parity, 1: odd parity, 2: even parity Note: data bit cannot be changed, it is 8 bits. ...

  • Page 24: Signal Terminals

    16：6M n.x□xx Stop bit 0：2 bits, 2：1 bit At once n.□xxx Parity bit At once 0～2 0:no parity, 1: odd parity, 2: even parity Note: data bit cannot be changed, it is 8 bits. P7-02 RS485 communication protocol setting: Default Parameter Function Range...

  • Page 25: Si Input Signal

    To avoid the interference, please use shielded twisted-pair cable. (1) Servo pulse input will be ON at 10mA. (2) If the controller is XINJE PLC, pulse output rated current is 50mA, so 1 channel of pulse can connect 5 servo drives. We suggest not over 3 servo drives.

  • Page 26: Analog Input Circuit

    Optocoupler type Servo drive upper device Relay type Servo drive upper device Note: max load current 400mA (if control the brake motor by SO signal, please confirm the brake current, if it is larger than 400mA, please use intermediate relay) 3-1-2-4.

  • Page 27: Encoder Feedback Signal

    3-1-2-5. Encoder feedback signal Incremental encoder Servo unit Differential to collector Upper device Shield cable Connector cover SHIELD cover Shiled layer 3-1-3. Standard wiring example For the following wiring diagram, the input and output terminal function is out of factory settings. The setting can be changed, please see chapter 5-12.
  • Page 28 DS3-21P5-PQA,DS3-22P3-PQA: 3-phase AC220V (50/60Hz) DS3-4□P□-PQA: 3-phase AC380V (50/60Hz) Regenerative resistor Servo motor Encoder CN2-1 CN2-2 CN2-3 CN2-4 CN2-5 . . . P+24V CN0-3 . . . CN0-1 Shield layer connect Ω 0V at signal side CN0-4 Be vacant at CN1-8 Drive side CN1-9 Ω...

  • Page 29: Regenerative Resistor

    3-1-4．Regenerative Resistor When the servo motor operates in generator mode, power is returned to the servo drive side. This is called regenerative power. The regenerative power is absorbed by charging the smoothing capacitor, but when the capacitor’s charging limit is exceeded, the regenerative power needs to be reduced by the regenerative resistor.

  • Page 30: Ds3E/Ds3L-Pfa

    DS3-22P3-PTA DS3-41P5-PQA DS3E-41P5-PFA 55Ω—100Ω 55Ω Above 1000W DS3L-41P5-PFA DS3-41P5-PTA DS3-43P0-PQA DS3E-43P0-PFA 55Ω—75Ω 55Ω Above 1000W DS3L-43P0-PFA DS3-43P0-PTA DS3-45P5-PQA 25 Ω 25 Ω —65 Ω Above 2000W DS3L-45P5-PQA DS3-47P5-PQA 25 Ω 25 Ω —50 Ω Above 2000W DS3L-47P5-PQA DS3-411P0-PQA 18 Ω 18 Ω...

  • Page 31: Main Circuit Terminals

    3-2-1-2. Main circuit terminals  DS3E-20P2-PFA, DS3E-20P4-PFA, DS3E-20P7-PFA  DS3L-20P2-PFA, DS3L-20P4-PFA, DS3L-20P7-PFA Terminal Function Explanation Power supply input of Single AC 200～240V, 50/60Hz main circuit ● Vacant terminal Connect the motor Terminal Color brown black U, V, W Motor terminals blue Yellow green Note: the ground wire is on the cooling...

  • Page 32: Winding Terminals On Servo Motor

     DS3E-43P0-PFA  DS3L-43P0-PFA Terminal Function Explanation R/S/T Power supply input of 3 phases AC 360～400V, 50/60Hz main circuit ● Vacant Connect the motor Terminal Color brown U, V, W black Motor terminals blue Yellow green Note: the ground wire is on the cooling fin, do not connect to P+ or P-, please check it before power on.
  • Page 33  CN0 terminals Name Explanation Name Explanation Pulse input PUL- Input 2 P+5V 5V difference input Input 3 P+24V Open collector input Input 4 Direction input DIR- +24V Input +24V D+5V 5V difference input Output 1 D+24V Open collector input Output 2 Input 1 Ground of output...

  • Page 34: Communication Port

    Explanation RS232 send RS232 receive RS232 ground (5-pin port) Note: please use the cable supplied by XINJE Company Communication parameters: RS232 default communication parameters: baud rate 19200bps, data bit 8, stop bit 1, even parity. Modbus station no. Default Parameter...
  • Page 35 n.x□xx Stop bit Servo OFF 0：2 bits, 2：1 bit n.□xxx Parity bit Servo OFF 0～2 0:no parity, 1: odd parity, 2: even parity Note: data bit cannot be changed, it is 8 bits.  RS-485 port DS3E series Name CN1-2 CN1-3 1.

  • Page 36: Signal Terminals

    n.□xxx Parity bit Servo OFF 0～2 0:no parity, 1: odd parity, 2: even parity Note: data bit cannot be changed, it is 8 bits. P7-02 RS485 communication protocol setting: Default Effective Parameter Function Range setting time P7-02 RS485 communication 1: Modbus Rtu protocol Servo OFF protocol 2: Xnet fieldbus...

  • Page 37: Si Input Signal

    Note: Please use tisted shielded pair to avoid interference (1) Servo drive pulse input will be ON at 10mA. (2) If the controller is XINJE PLC, pulse output terminal rated current 50mA, 1 channel pulse can connect 5 servo drives. We suggest it cannot over 3 servo drives.

  • Page 38: Analog Input Circuit

    Optocoupler type Servo drive upper device Relay type Servo drive upper device Note: SO output max allowable load current is 400mA. (please check the brake current if the SO controls the brake motor, it needs to use auxiliary relay for current larger than 400mA) 3-2-2-4.

  • Page 39: Ds3-Pta Series

    3-3. DS3-PTA series 3-3-1. Main circuit wiring 3-3-1-1. The terminal arrangement 3-3-1-2. Main circuit terminals  DS3-20P2-PNA, DS3-20P4-PNA, DS3-20P7-PTA Terminal Function Explanation Single or 3 phase AC 200 ～ 240V, 50/60Hz Note: if using single phase 220V, please Power supply input of L1/L2/L3 main circuit connect L1, L3 to the power supply,...
  • Page 40 P0-25= power value, P0-26= resistor value (see chapter 3-1-4) P+/P- Bus terminal Real-time check the bus voltage, please take attention of this terminal  DS3-21P5-PTA, DS3-22P3-PTA Terminal Function Explanation R/S/T Power supply input of DS3-21P5/22P3-PTA main circuit 3 phases AC 200～240V, 50/60Hz Note: if using single phase 220V, please connect power supply to R and T, otherwise...

  • Page 41: Winding Terminals On Servo Motor

    Bus terminal Real-time check the bus voltage, please take attention of this terminal 3-3-1-3．Winding Terminals on Servo motor Symbol 40, 60, 80, 90 Series 110, 130, 180 Series 4-yellow green (yellow green) 1-yellow green 1-brown (red) 2-brown 3-black (blue) 3-black 2-blue (yellow) 4-blue 1: +24V...

  • Page 42: Communication Port

    Explanation RS232 send RS232 receive RS232 ground (5-pin port) Note: please use the cable supplied by XINJE Company Communication parameters: RS232 default communication parameters: baud rate 19200bps, data bit 8, stop bit 1, even parity. Modbus station no. Default Parameter...
  • Page 43 Please set the following parameters through P7-11: Parameter Default Function Range Effective time value n.xx□□ Baud rate Servo OFF 00～10 00：300 01：600 02：1200 03：2400 04：4800 05：9600 06：19200 07：38400 08：57600 09：115200 0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000 n.x□xx Stop bit 0：2 bits, 2：1 bit Servo OFF n.□xxx...

  • Page 44: Signal Terminals

    04：4800 05：9600 06：19200 07：38400 08：57600 09：115200 0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000 11：1M 12：2M 13：3M 14：4M 15：5M 16：6M n.x□xx Stop bit Servo OFF 0：2 bits, 2：1 bit n.□xxx Parity bit Servo OFF 0～2 0:no parity, 1: odd parity, 2: even parity Note: data bit cannot be changed, it is 8 bits.

  • Page 45: Si Input Signal

    Note: Please use tisted shielded pair to avoid interference (1) Servo drive pulse input will be ON at 10mA. (2) If the controller is XINJE PLC, pulse output terminal rated current 50mA, 1 channel pulse can connect 5 servo drives. We suggest it cannot over 3 servo drives.

  • Page 46: So Output Signal

    Open collector (24V power supply) Relay (24V power supply) Upper device servo drive Upper device servo drive +24 V +24V R=2.2K Ω COM2 Note: the max allowable voltage and current of open collector output circuit: Voltage: max DC30V Current: max DC50mA 3-3-2-3.

  • Page 47: Analog Input Circuit

    3-3-2-4. Analog input circuit DS3-PTA series servo drive cannot support analog input function. 3-3-2-5. Encoder feedback signal DS3-PTA series servo drive cannot support encoder feedback output function. 3-3-3. Standard wiring example Refer to chapter 3-1-3 (DS3-PTA series servo drive cannot support encoder). 3-3-4.

  • Page 48: Running Status Mode

    STA/ESC Monitor Alarm Auxiliary Parameter State E-XXX F0-00 U0-00 P0-00 Idle Speed Code Function P1-00 U1-00 Alarm Control code Reset F1-00 P7-00 U2-00 Communication Power on time Display mode:  Monitor Function UX－XX: The first X means group No., the last two X means the member No. in the group.

  • Page 49: Monitoring Mode

    The code contents: Code Descrption Standby Servo OFF (motor power OFF) Servo ON (motor power ON) Reset Servo re-power Forward Run Prohibited P-OT ON. Please refer to 5-2-4 “Overtravel Limit” Reverse Run Prohibited N-OT ON. Please refer to 5-2-4 “Overtravel Limit” ...
  • Page 50 U0-00 Actual speed of motor U0-01 Input speed command U0-02 Torque command % of rated U0-03 Rotate angle (mechenism angle) 0.1° U0-04 Rotate angle (electrical angle) 0.1° U0-05 Bus voltage U0-06 IPM temperature 0.1℃ U0-07 Torque feedback % of rated U0-08 (0000~9999)*1 Pulse offset value...
  • Page 51 U0-52 Instantaneous bus capacitor power U0-53 Average bus capacitor power U0-54 Reserved U0-55 Instantaneous regenerative braking discharge power U0-56 Average regenerative braking discharge power U0-57 (0000~9999)*1 Absolute encoder present Encoder pulse position feedback U0-58 (0000~65535)*10000 U1-XX: Number Contents Unit U1-00 Current alarm code U1-01 Current warning code...
  • Page 52 U2-07 Hardware version U2-08 Hardware version U2-09 Total run time (from the first time power on) Hour U2-10 Total run time (from the first time power on) Minute U2-11 Total run time (from the first time power on) Second U2-12 This time run time (from this time power on) Hour U2-13...
  • Page 53 /CHGSTP /CLR /I-SEL /G-SEL —— /INHIBIT —— /ZCLAMP —— /C-SEL Light means signal input Light means no signal input  U0-22 input signal 2 Segment Segment Explanation Explanation code code /C-SEL control mode /ZCLAMP zero clamp /INHIBIT command pulse /G-SEL gain switch prohibited /CLR pulse clear /CHGSTP change step...

  • Page 54: Auxiliary Function

    Ready (/S-RDY) Torque limit (/CLT) Speed limit detection (/VLT) Brake lock (/BK) Warn (/WARN) Output near (/NEAR) Note: read the status through communication, the binary value from right to left are related to /COIN_HD, /COIN. 0 means no output, 1 means has output. For example: 0x0001 means /COIN_HD has output, 0x0201 means /COIN_HD and /NEAR has output.

  • Page 55: F1-Xx

    1. Clean the alarm Set F0-00=1 to reset the alarm. When the alarm occurred, please find out the alarm reasons then clean the alarm. 2. Back to out of factory settings Set F0-01=1, then press ENTER. No need to re-power the servo drive. 3.

  • Page 56: Alarm (E-Xxx)

    Keep press ENTER Press ENTER donE F1-02 Press STATUS/ESC to exit. 4. Vref zero (F1-03) Keep press ENTER Press ENTER donE rEF_ o F1-03 Press STATUS/ESC key to exit. 5. Tref zero (F1-04) Keep press ENTER Press ENTER rEF_ o donE F1-04 Press STATUS/ESC key to exit.

  • Page 57: Change The Motor Code

    4. At this time the panel displays the value in P3-09, and the last decimal “0” is blinking. Press ENTER to left shift the blinking decimal. Press INC, DEC or ENTER key to modify the value to 3000, and press and hold ENTER to confirm. The parameter in P3-09 in changed from 2000 to 3000.

  • Page 58: Run The Servo System

    Run the servo system 5-1．Control mode selection PQA servo mode 1 and 2 can be switched to each other via /C-SEL signal. Parameter Control mode Reference P0-01 Torque control (internal setting) Control the output torque of servo motor via operating panel or communication.

  • Page 59: Servo On Setting

    P5-47 Alarm output /ALM 5-2-6 5-2-1. Servo ON setting When servo ON signal is ineffective, the servo motor cannot run. Parameter Signal Setting Meaning Modify Effective name P0-03 Enable Servo OFF At once Not enable mode 1 (default) I/O enable /S-ON Software enable (F1-05...

  • Page 60: Overtravel Limit (P-Ot & N-Ot)

    0: Inertia run stop, keep inertia movement after stop 2: deceleration stop, keep inertia movement after stop P0-30 Stop time out time Unit Default value Range Suitable mode 0.1ms 20000 0~65535 All the modes P3-32 Brake torque Unit Default value Range Suitable mode 0.1%...

  • Page 61: Power-Off Brake (Bk)

    n.0013 SI3=ON, allow forward running P5-23 /N-OT n.0004 SI4=ON, prohibit the reverse Range: 0000-0015 (default) running n.0014 SI4=ON, allow reverse running Note: 1. /P-OT, /N-OT can be changed to other terminal input via parameter P5-22 and P5-23. 2. The input terminals function cannot be the same. Please refer to chapter 5-12-1. 5-2-5.
  • Page 62 3. The switch time between BK signal and SON signal If the machine moves slightly due to gravity because of the brake has action delay time. Please adjust the time as below parameter. P5-07 Servo OFF delay time (brake command) Unit Default Range...

  • Page 63: Alarm Output

    5-2-6. Alarm output Parameter Signal Default Meaning Modify P5-47 Alarm n.0002 SO2 and COM pass through Range: 0000-0013 output (default) when servo alarm, output the Distribute the signal to alarm signal output terminal through P5-47. P5-47=0001, n.0012 SO2 and COM cut off when outputs from SO1.

  • Page 64: External Position Mode

    limit value 5-3-1. External position mode Parameter Setting Meaning Modify Effective value P0-01 Position control (external pulse) Servo OFF Immediately Function: control the position by the external pulse command 5-3-2. Pulse command and pulse form 1. Pulse command direction P0-09 Pulse command positive direction Unit Default...

  • Page 65: Electronic Gear Ratio

    2： τ 0： CW/CC τ 1：AB B-phase ahead A-phase 90º A-phase ahead B-phase 90º 2：P+D τ Electric specification t1, t2≤0.1us t3≤0.1us τ≥2.5us 100τ/T=40%～60% t4＞3us 5-3-3. Electronic gear ratio P0-11 Pulse per rotation × 1 Unit Default Range Suitable Change Effective value mode 0~9999...
  • Page 66 are effective when P0-11 and P0-12 are zero. The electronic gear ratio functions: 1. Set the command pulse per rotation to ensure the motor speed meet the requirements. For example, the PLC max output pulse frequency is 200KHz. If the electronic gear ratio is not changed, motor needs 10000 pulses per rotation, the motor max speed is 1200rpm.
  • Page 67 Not use electronic gear ratio Workpiece Ball screw pitch: 6mm Encoder pulse: 2500 1 rotation is 10000 pulses Workpiece moves 6mm per rotation, so the length per pulse is 6mm/10000 =0.6um. The workpiece moves 10mm, so it needs 10mm/0.6um=16666.6666 pulses. The decimal will be discarded for actual pulse sending.

  • Page 68: Position Command Filter

    2. Example of setting the electronic gear The example for different loads: Step Ball screw Round table Belt + pulley Load shaft πD Load shaft Load P: pitch shaft 360 ° 1rotate = 1 rotate = command unit D: pulley diameter command unit πD 1rotate =...

  • Page 69: Pulse Deviation Clear (/Clr)

    Before filter After filter 100% 63.2% 36.8% P1-25 P1-25 Smoothing filter 5-3-5. Pulse deviation clear (/CLR) Pulse deviation: the difference between command pulse of controller (such as PLC) and feedback pulse of servo in position mode. Its unit is 1 reference unit; it is related to the command unit of electronic gear ratio.
  • Page 70 Parameter Signal Default Suitable Meaning Modify Effective mode P5-38 /COIN n.0001 Output positioning complete At once (default) signal from SO1 n.0011 SO1 and COM cut off when positioning complete Range: 0000-0013, distribute to output terminal through P5-38. When it set to 0002, it means output from SO2.
  • Page 71 Output COIN signal when the difference below P5-00 /S-ON after the command end |U-08| P5-00 Pulse difference |ΔU-12| Pulse command /COIN output COIN signal /S-ON when the command end and motor speed below P5-03(rotation detection speed), pulse difference |U-08| below P5-00 Pulse difference |ΔU-12| Pulse command...

  • Page 72: Positioning Near (/Near)

    Output COIN signal when command end, pulse /S-ON difference absolute value below P5-00. COIN signal hold the time of P5-02, output COIN-HOLD |U-08| P5-00 signal Pulse difference |ΔU-12| Pulse command P5-02 /COIN P5-02 /COIN-HOLD 5-3-7. Positioning near (/NEAR) Positioning near signal means the servo motor is near the positioning complete. It prompts the device to prepare the next operation.

  • Page 73: Command Pulse Prohibition (/Inhibit)

    5-3-8. Command pulse prohibition (/INHIBIT) To stop the commnad pulse input in position control mode. When /INHIBIT signal is ON, the command pulse stop counting. Input signal setting: Parameter Signal Default Suitable Modify Effective Modify mode P5-32 /INHIBIT n.0000 At once Range: 0000-0015.

  • Page 74: Control Mode Selection

    adjustment auto-adjustment Proportion P5-21 /P-CON 5-4-4 action Zero clamp P5-31 Zero clamp /ZCLAMP 5-4-5 P3-12 Zero clamp mode P3-13 Zero clamp speed Speed P5-39 /V-CMP speed coincidence checking 5-4-6 coincidence P5-04 Coincidence speed signal checking checking width/V-CMP Torque limit P3-28 Forward torque limit 5-4-7 P3-29...

  • Page 75: Speed Command Difference Auto-Adjustment (F1-03)

    Unit Default setting Range Suitable Change Effective mode 0.01ms 0~10000 1, 2, 4 At once Analog command wiring diagram please refer to chapter 3-2-3 P3-04 Analog speed direction 1, 2, 4 At once switching Speed command limit P3-14 Forward max speed command limit Unit Default setting Range...

  • Page 76: Zero Clamp (/Zclamp)

    5-4-5. Zero clamp (/ZCLAMP) (1) Function This function is used when host controller uses speed command input and the servo system isn’t configured the position loop. In other words, the function will be used when the motor must stop and enter lock state even the V-REF input voltage is not zero.

  • Page 77: Torque Limit

    P5-04 Speed coincidence signal width Unit Default Range Suitable mode Modify Effective 0~10000 3, 4, 7 Servo OFF Immediately If the difference between motor speed and command speed is less than the value of P5-04, servo outputs /V-CMP signal. There is default 10rpm hysteresis loop, please refer to chapter 5-11-4 for hysteresis loop. 5-4-7.

  • Page 78: Soft Start

    4. Relationship of the parameters The following are the relationship of internal torque limit, external torque limit, P-CL, /N-CL and T-REF. TREF P-CL/N-CL status Final forward torque Final reverse torque distribution P3-28 decide P3-29 decide The smaller one of internal The smaller one of internal forward torque...

  • Page 79: Filter

    Speed command Soft start Rated speed Internal speed command P3-09: set the time Rated speed P3-10: set the time 5-4-9. Filter P1-22 Speed command filter mode Default Range Suitable Meaning Change Effective setting mode 0, 1 3, 4, 7 Filter certain frequency At once...

  • Page 80: Alarm Speed

    there is default hysteresis loop 10rpm, please refer to chapter 5-11-4. 5-4-11. Alarm speed P3-21 Forward alarm speed Unit Default setting Range Suitable Change Effective mode 1rpm 120% rated 0~10000 Servo At once speed P3-22 Reverse alarm speed Unit Default setting Range Suitable Change...

  • Page 81: Control Mode Selection

    P3-13 Zero clamp speed Speed P5-39 /V-CMP speed coincidence checking 5-4-6 coincidence P5-04 speed coincidence checking signal width checking /V-CMP Torque limit P3-28 Internal forward torque limit 5-4-7 P3-29 Internal reverse torque limit P3-23 T-REF distribution P3-30 Forward external torque limit P3-31 Reverse external torque limit P5-25...
  • Page 82 Parameter Signal Default Suitable Modify Modify Effective mode P5-27 /SPD-D n.0000 1, 2, 3, 4 Range: 0000-0015. At once Distribute to input terminal through P5-27. P5-28 /SPD-A n.0000 3, 6 Range: 0000-0015. Distribute to input terminal through P5-28. P5-29 /SPD-B n.0000 3, 6 Range: 0000-0015.

  • Page 83: Speed Control (Pulse Frequency Command)

    5-6．Speed control (pulse frequency command) Basic parameter Parameter Name Reference P0-01 Control mode selection 5-6-1 P5-20 Servo ON signal /S-ON 5-2-1 P0-10 Pulse command form 5-3-2 P0-15 Command pulse frequency at rated speed 5-6-3 P0-16 Speed command pulse filter time 5-6-4 Other parameters Key word...

  • Page 84: Speed Command Pulse Filter Time

    5-6-4. Speed command pulse filter time P0-16 speed command pulse filter time Unit Default Range Suitable mode Modify Effective 0.01ms 0~10000 Immediately When the command pulse frequency is low, setting a suitable value for this parameter can decrease the speed fluctuation. 5-7．Torque control (analog voltage command) (only for DS3-PQA) Parameter...

  • Page 85: Torque Command Offset Autoadjustment (F1-04)

    0.001V 10000 1500~30000 Servo At once Function: set the speed command voltage (T-REF) to run the servo motor at rated speed Example: P3-24=5000, motor run at rated torque when analog input voltage is 5.00V P3-24=8000, motor run at rated torque when analog input voltage is 8.00V Note: analog voltage command input for torque limit has no polarity.

  • Page 86: External Speed Limit

    P3-16 internal forward speed limit in torque control mode Unit Default Range Suitable mode Modify Effective 1rpm Motor 0~10000 1, 2 Immediately rated Note: the actual speed is max speed even this parameter speed is larger than the max speed. P3-17 internal reverse speed limit in torque control mode Unit...

  • Page 87: Control Mode Selection

     XDC series PLC use fieldbus motion control mode to replace the pulse outputting mode. It is bus communication mode, baud rate is 3M, the system speed is fasster, the wiring is simple and sharing.  Use XINJE industry filedbus communication protocol, support XINJE filedbus products. Fieldbus parameters parameter Function...

  • Page 88: Absolute Encoder Servo Drive

    14：4M 15：5M 16：6M Stop bit: n.x□xx 0: 2 bits 2: 1 bit n.□xxx Parity bit 0: no parity 1: odd parity even parity P7-02 RS485 1：Modbus communication 2：XNet protocol P7-05 Slave station quantity P7-06 Repeat times Monitoring parameters parameter Explanation Mark U0-61 Communication error times...

  • Page 89: Absolute Enocder Servo Encoder Cable

    MS-130ST-T10015BZ-21P5 Power cable CM-L15-02 encoder MS-130ST-T06025B-21P5 MS-130ST-T06025BZ-21P5 5-10-1. Absolute enocder servo encoder cable 15-core aviation plug—encoder cable 4 blue (SD+) 3 blue/black(SD-) 1 shield 9 green(battery+) 8 red(5V) 7 green/black(battery-) 6 black (0V) DB9 female port related to the 15-core aviation plug 5 shield 4 blue (SD+) 3 blue/black(SD-)

  • Page 90: The Use And Replacement Of Battery

    P7-01 communication parameter: Default Effective Parameter Function Setting range setting time n.xx□□ Baud rate 00~10 0A: 192000 Servo 00: 300 0B: 256000 01: 600 0C: 288000 02: 1200 0D: 384000 03: 2400 0E: 512000 04: 4800 0F: 576000 05: 9600 10: 768000 06: 19200 11: 1M...

  • Page 91: Warn

    Parameter Signal Type Default Suitable Modify Effective mode P5-47 /ALM Output n.0002 At once Output always open signal from SO2  Alarm reset /ALM-RST Parameter Signal Type Default Meaning Modify Effective P5-24 /ALM-RST Input n.0002 Input always open At once signal from SI2 1.

  • Page 92: Hysteresis Loop

    5-11-4. Hysteresis loop The hysteresis loop can prevent the system oscillation caused by parameter fluctuating around certain value. There is hysteresis loop width after setting the hysteresis loop value. It will act when the parameter is larger than certain value. It will release the action when the parameter is smaller than another value.

  • Page 93: Abz Phase Feedback Signal Of Encoder (Cn1 15-Pin Support)

    1. Wiring diagram DS3-2□P□-PQA/ DS3-4□P□-PQA 和 DS3L-2□P□-PQA/ DS3L-4□P□-PQA support differential output AB phase feedback signal. Please see the following wiring diagram of DS3-21P5-PQA and Xinje PLC XC3-32RT-E. Drive CN1(DB15) differential signal to collector 2. Encoder feedback pulses per circle (DS3L cannot support)

  • Page 94: User-Defined Output Signal

    5-11-8. User-defined output signal User can define 2 outputs. The defined method is SOx output when A>B or A<B. A is 9 activating conditions, B is user-defined comparison value. User-defined output 1: P5-10 The trigger condition of user-defined output 1 Default trigger Trigger Unit...

  • Page 95: Io Filter Time

    P5-53 the output terminal please refer to chapter 5-11-4 for hysteresis loop.  Trigger conditions for choice Trigger condition (P5-10/P5-14) Meaning Unit DS3E/DS3L DS3 series series — Rated current % 7203 0203 Current command (torque command) 7205 0205...

  • Page 96: I/O Signal Distribution

    Note: Range: 0000-0015. /C-SEL can be distributed to input terminal via parameter P5-14, refer to chapter 5-12-1. (2) Function realization Signal State Control mode /C-SEL P0-01: submode 1 P0-02: submode 2 5-12. I/O signal distribution 5-12-1. Input signal distribution DS3-2□P□-PQA, DS3-4□P□-PQA Parameter range: P5-20~P5-36 Parameter Meaning...

  • Page 97: Default Setting Of Input Terminal

    5-12-2. Default setting of input terminal Input Type DS3-2□P□-PQA /S-ON /ALM-RST /P-OT /N-OT DS3-4□P□-PQA distribute Note: the same input terminal can distribute one function parameter. If more function parameters distribute to the same terminal, the system will delete the former setting and keep the present setting. 5-12-3.

  • Page 98: Read The Absolute Encoder Position

    Absolute encoder servo no need to reset origin after power on again and run directly. Servo drive model: DS3-口口 P 口-PTA Servo motor model: MS-口口 ST-T 口口口口口 B/BZ-口口 P 口 Drive model Motor model Cable Absolute encoder DS3-20P4-PTA MS-60ST-T01330B-20P4 Encoder cable 17-bit absolute MS-60ST-T01330BZ-20P4 CP-DP-B-02...

  • Page 99: Battery Using And Changing

    15: 5M 16: 6M Servo n.x□xx Stop bit 0: 2 bits, 2: 1 bit n.□xxx Parity bit Servo 0: no parity, 1: odd parity, 2: even parity Note: data bit cannot change, it is 8 bits P7-02 RS485 communication protocol setting: Default Parameter Function...

  • Page 100: Control Mode Selection

    leaving the limit switch P4-01 The speed near the limit switch P4-02 The speed leave the limit switch P5-27 /SPD-D: define the origin in position mode P5-28 /SPD-A: find the reference origin at forward side in position mode P5-29 /SPD-B: find the reference origin at reverse side in position mode Pulse error clear P5-34...
  • Page 101 After the drive output 1-segment position After the drive output 1-segment position command, it will wait for the completion of command, it will wait for the completion of motor motor positioning, and then start the next position positioning, and pass the adjust time, then start the command at once.
  • Page 102 /CHGSTP Signal Start at the rising edge of the signal, sequential run all, not recycling Suppose there are 2 segments. t1=P4-11 /CHGSTP signal is ineffective when one cycle has not been finished, such as the second /CHNGSTP signal in the diagram. 3: set segment no.

  • Page 103: Position Parameters From Segment 1 To 35

    (3) Positioning mode n.xxx□ Meaning Relative positioning Absolute positioning 1: absolute positioning 0: relative positioning (take the reference origin as the absolute positioning origin) Segment 2 Segment 2 Segment 1 Segment 1 5-14-3. Position parameters from segment 1 to 35 Pulse number (low bit) P4-10+（n-1）*7 Default...

  • Page 104: Change Step (/Chgstp)

    out. 5. In absolute positioning mode, if one segment speed is not zero but the pulse number is zero, the motor will return to the reference origin with the speed of this segment. 6. In absolute positioning mode, if 2 consecutive segments speed are not zero, but the pulse number is the same, the servo motor will not run but the wait mode is effective.
  • Page 105 Signal setting: Parameter Signal Default Meaning Modify P5-28 /SPD-A n.0000 Mode 3: internal speed Range: 0000-0014, distributes to selecting signal input terminal through P5-28. When it set to 0001, it means Mode 5/6: find origin point input signal from SI1. at forward direction P5-29 /SPD-B...

  • Page 106: Set Segment Through Communication

    The timing diagram of finding reference origin of forward side: ① /SPD-A ② /P-OT ③ P4-00 P4-01 P4-02 Steps: (1). Install limit switch at forward and reverse side. At the rising edge of /SPD-A, motor runs forward at the speed of P4-01 to find the reference origin of forward side. (2).

  • Page 107: Servo Gain Adjustment

    Servo gain adjustment 6-1．Gain parameter adjustment The servo system contains position loop, speed loop, current loop which are the core of servo system. The parameters related to the three loops are gain(Kp), the integral time constant(Ki), response level, filter time, feedforward gain, etc. These parameters determine the performance of the entire system.

  • Page 108: Other Parameters

    P1-03 First speed feedback response level Unit Default Range Suitable mode Modify Effective 1000 0~4000 All the modes Immediately The larger the response level, the faster the response speed, but it will show vibration for low speed running, at this time please decrease P1-03. P1-04 First torque command filter time constant Unit...

  • Page 109: Parameter Switching

    Torque feedforward: P1-12 Torque feedforward gain (Kp) Unit Default set Range Suitable mode Change Effective 0~300 3, 4, 6, 7, 10 At once Increase this parameter can improve the rigidity, but it maybe overshoot. P1-13 Torque feedforward filter time Unit Default set Range Suitable mode...

  • Page 110: G-Sel Signal Input

    command when speed command larger than P1-20, use group 2. Position When position offset less than P1-20, use group 1; offset command when position offset larger than P1-20, use group 2. Speed When speed feedback less than P1-20, use group 1; feedback when speed feedback larger than P1-20, use group 2.

  • Page 111: Specification And Dimension

    Specification and dimension 7-1．Servo motor 7-1-1．Servo motor specification Please refer to this chapter when selecting the servo drive. Voltage level 220V 40ST- 60ST- 80ST- M00330 M00630 M01330 M02430 Motor type MS- □□S- □□S- □□-20P1 □□-20P2 □□-20P4 □□-20P7 20P4 20P7 Motor code 1002 1003 0004...
  • Page 112 Rated current Rated speed 2000 3000 3000 3000 3000 1000 2500 2500 (rpm) speed 2500 4000 3500 3500 4000 2000 3000 3000 （rpm） Rated torque （N· m） Peak torque 10.5 （N· m） Back constat 106.7 （V/krpm） Torque coefficient 1.17 0.83 0.54 1.612 0.81...
  • Page 113 Pole pairs Motor insulation level Class B(130℃) Protection level IP65 －15℃~＋40℃ Temperature Ambient Humidity Relative humidity < 90% (no condensation) Voltage level 380V 110ST- 130ST- Motor type MS- M04030 M05030 M06025 M10015 M07725 □□-41P2 □□-41P5 □□-41P5 □□-42P0 Motor code 0131 0132 0142 0144...
  • Page 114 0.46 1.15 0.67 0.71 Winding resistor（Ω） 1.52 2.68 4.00 Winding inductance（mH） 11.6 Electrical time constant（ms） 3.33 5.57 4.00 5.63 6.44 Weight（Kg） 11.4 20.5 17.1 22.2 11.1 Encoder ppr（PPR） 2500 Pole pairs Motor insulation level Class B(130℃) Protection level IP65 －15℃~＋40℃ Temperature Ambient Humidity...

  • Page 115: Torque-Speed Feature

     110, 130, 180 series servo motor encoder connector Signal 5V 0V A+ B+ Z+ A- B- Z- U+ V+ W+ U- V- W- PE Connector 2 13 14 15 7-1-2．Torque-Speed Feature A: continuous using area B: repeated using area MS-60ST-M00630□□-20P2 MS-60ST-M01330□□-20P4 MS-80ST-M02430□□-20P7...
  • Page 116 MS-130ST-M06025□□-21P5 MS-130ST-M10015□□-21P5 MS-130ST-M06025□□-41P5 MS-130ST-M10015□□-41P5 MS-130ST-M15015□□-22P3 MS-130ST-M10030□□-43P0 MS-180ST-M19015□□-43P0...

  • Page 117: Servo Motor Dimensions

    7-1-3．Servo motor dimensions  Dimensions of 40 series servo motors (unit: mm) Motor type Normal With brake X2-40ST-M00330□□-20P1 99± 1  Dimensions of 60 series servo motors (unit: mm) Motor type Normal With brake MS-60ST-M00630□□-20P2 115.5 159.5 MS-60ST-M00630□□S-20P2 MS-60ST-M01330□□-20P4 MS-60ST-M01330□□S-20P4 X2-60ST-M01330□□-20P4...
  • Page 118  Dimensions of 80 series servo motors (unit: mm) Type Normal With brake MS-80ST-M02430□□-20P7 MS-80ST-M03520□□-20P7 MS-80ST-M02430□□S-20P7 X2-80ST-M02430□□-20P7  Dimensions of 90 series servo motors (unit: mm) Type Normal With brake MS-90ST-M02430□□-20P7...
  • Page 119  Dimensions of 110 series servo motors (unit: mm) Type Normal With brake MS-110ST-M04030□□-21P2 MS-110ST-M04030□□-41P2 MS-110ST-M05030□□-21P5 MS-110ST-M05030□□-41P5  Dimensions of 130 series servo motors (unit: mm) Motor type Motor code Normal With brake MS-130ST-M04030□□-21P2 1031 MS-130ST-M10010□□-21P0 1040 MS-130ST-M06025□□-21P5 1042 0042 MS-130ST-M10015□□-21P5 1044 0044...
  • Page 120 MS-130ST-M06025□□-41P5 0142 MS-130ST-M10015□□-41P5 0144 2144 MS-130ST-M10030□□-43P0 1148  Dimensions of 180 series servo motors (unit: mm) Motor type Motor code Normal With brake MS-180ST-M19015□□-43P0 1052 0156 MS-180ST-M19015□□-43P0-S 1052 MS-180ST-M21520□□-44P5 0150 MS-180ST-M27015□□-44P3 1151/1161 0151 MS-180ST-M27015□□-44P3-S 1151 MS-180ST-M35015□□-45P5 1152 0152 MS-180ST-M35015□□-45P5-S 1152 MS-180ST-M48015□□-45P5 1153/1163...

  • Page 121: Servo Drives

    7-2．Servo drives 7-2-1．DS3E, DS3L, DS3-PTA, DS2 comparison table Item Fieldbus type Pulse type High precision Basic type type DS3-口口 P 口 DS3E-口口 P DS3L-口口 P 口 口 -PTA -PFA -PFA Power 0.1KW~3.0KW 0.1KW~3.0KW 0.4KW~1.5KW 0.1KW~11.0KW Input power supply Single phase/3-phase AC200～240V, 50Hz/60Hz 3-phase AC340V~440V, 50Hz/60Hz Encoder feedback 2500ppr...
  • Page 122 position step switch signal, internal control mode and direction switch Digital output 2 channels SO 2 channels SO 2 channels SO 3 channels SO output output output output Positioning complete, servo ready, alarm output, torque limit output, same speed checking, rotating checking, speed reaching, brake release output, warning output input pulse...

  • Page 123: Servo Drive Dimensions

    7-2-2．Servo drive dimensions  DS3L-20P1-PFB/ DS3L-20P2-PFB (unit: mm)  DS3-20P1-PQA/ DS3-20P2-PQA/ DS3-20P4-PQA/ DS3-20P7-PQA  DS3E-20P1-PFA/ DS3E-20P2-PFA/ DS3E-20P4-PFA/ DS3E-20P7-PFA  DS3L-20P1-PFA/ DS3L-20P2-PFA/ DS3E-20P4-PFA/ DS3E-20P7-PFA  DS3-20P2-PNA/ DS3-20P4-PNA/ DS3-20P7-PTA Unit: mm 70.0 166.0 59.0  DS3-21P5-PQA/ DS3-22P3-PQA/ DS3-41P5-PQA  DS3E-21P5-PFA/ DS3E-22P3-PFA/ DS3E-22P6-PFA/ DS3E-41P5-PFA ...
  • Page 124 85.0 198.3  DS3-43P0-PQA / DS3E-43P0-PFA 99.0 110.0...
  • Page 125  DS3-45P5-PQA / DS3-47P5-PQA  DS3L-45P5-PQA / DS3L-47P5-PQA  DS3-411P-PQA / DS3-415P-PQA...

  • Page 126: Alarm Information

    Alarm Information DS3 series alarm code format is E-XX□, XX is main category, □ is sub categories. □ Alarm Explanation Reasons Solution Hardware version The hardware version E-010 Contact us not match is error System loading Contact us E-012 The program damaged...
  • Page 127 380V: U0-05=700 start discharging, U0-05=660 discharge end) 2. increase acceleration/deceleration time 3. decrease load inertia 4. decrease start/stop frequency 5. change larger power drive and motor regenerative resistor Change suitable resistor, refer to broken or value too chapter 3-4 Run the motor without load to Load has locked rotor check the problem 1.
  • Page 128 check the problem Shut down device with Interference interference Alarm at the moment high-speed Increase the acceleration time stop/start 1. check if there is external force make the motor over speed Motor speed too fast 2. input command frequency too high 3.
  • Page 129 Current sensor Current sensor Check the ground wiring or E-120 damaged or external error contact us interference too large U phase current Current sensor sampling zero Check the ground wiring or E-121 damaged or external calibration value contact us interference too large error V phase current Current...
  • Page 130 is no.5 3.6V Encoder problem, or Absolute encoder Unplug the encoder cable without E-223 power supply is not data visit alarm battery will alarm stable Absolute encoder Large change Unplug the encoder cable without E-224 overspeed encoder data battery will alarm Check the over range If it no need to alarm after over E-260...
  • Page 131 DS3L-41P5-PFA DS3-41P5-PTA DS3-43P0-PQA DS3E-43P0-PFA 25Ω 55Ω—75Ω 1000W and up DS3L-43P0-PFA DS3-43P0-PTA Note: (1) the regenerative resistor value is better close to the min resistor value. The resistor power depends on the actual condition and heating power. (2) The frequent discharging of regenerative resistor make the temperature too high, please use high temperature resistant and flame retardant cable, and the surface of regenerative resistor cannnot touch the cable.

  • Page 132: Appendix 1 Parameter List

    Appendix 1 Parameter list ○ means the parameter can be modified when the servo is OFF, and effective when servo is ON. ● means the parameter can be modified any time, and effective when re-power on the servo. √ means the parameter can be modified any time, and effective immediately. Adding “n.”...
  • Page 133 9999 √ Numerator of Electronic gear ratio 5-3-3 65535 √ Denomination of electronic gear ratio 5-3-3 65535 ○ Pulse frequency corresponding to *100 1000 5-6-3 speed mode rated speed 10000 ○ Speed command pulse filter time 0.01ms 5-6-4 10000 ○ Encoder feedback pulse per circle×...
  • Page 134 P1: control parameters Name Unit Default Range Effective Suitable Chapter mode √ The gain of first speed loop 1~9999 3,4,6,7,1 6-1-1 √ First speed loop integral time 0.1ms 0~10000 3,4,6,7,1 6-1-1 √ The gain of first position loop 1~9999 6, 10 6-1-1 √...
  • Page 135 P1-18 mode √ Speed command filter 3, 4, 7 5-4-9 0: first order low-pass filter 1: smoothing filter √ Speed command filter time 0.1ms 0~65535 3, 4, 7 5-4-9 √ Position command filter 6, 10 5-3-4 0: first order low-pass filter 1: smoothing filter √...
  • Page 136 ○ Forward speed All the 5-4-2 Rated command limit 10000 modes ○ Reverse speed All the 5-4-2 Rated command limit 10000 modes √ Internal forward speed limit Related 1, 2 5-7-5 in torque control mode to the 10000 motor √ Internal reverse speed limit Related 1, 2...
  • Page 137 phase signal arrived) ○ Find origin function 5, 6 5-4-7 xx□x 0: OFF 1: ON ○ Hit proximity switch 0.1rp 5, 6 0~50000 5-4-7 speed ○ Leaving proximity switch 0.1rp 5, 6 0~50000 5-4-7 speed ○ Internal position mode n.0000 5, 6 5-4-2 ○...
  • Page 138 ○ Same speed checking 1~10000 3, 4, 7 5-4-6 speed ○ Reach checking speed 1000 0~10000 3, 4, 7 5-4-10 ○ Positioning near output Command 0~65535 5-3-7 width unit ○ Servo OFF delay time 0~65535 All the 5-2-5 modes ○ Brake command output 0~10000 All the...
  • Page 139 0010: signal is always valid 0011: input negative signal from SI1 0012: input negative signal from SI2 0013: input negative signal from SI3 0014: input negative signal from SI4 √ － /P-CON proportion n.0000 n.0000~ All the 5-4-4 action command n.0015 modes Ditto...
  • Page 140 signal from SO3 0011: output negative signal from SO1 0012: output negative signal from SO2 0013: output negative signal from SO3 √ － /COIN positioning n.0001 n.0000~ 5-3-6 finished n.0013 ditto √ － /V-CMP same speed n.0000 n.0000~ 3,4,7 5-5-6 checking n.0013 ditto...

  • Page 141: Appendix 2 Ux-Xx Monitoring Parameters

    P6: signal parameters (reserved) P6-XX Name Unit Default Range Effective Suitable Chapter value mode 00~04 P7: communication parameters P7-XX Name Unit Default Range Effective Chapter value — ○ RS485 station no. 1~255 3-1-5 n.xx□□ ○ 00~10 0A: 192000 3-1-5 00: 300 0B: 256000 01: 600 0C: 288000...
  • Page 142 U0-10 (0000~9999)*1 Encoder feedback Encoder pulse U0-11 (0000~65535)*10000 U0-12 (0000~9999)*1 Input command pulse Command numbers pulse U0-13 (0000~65535)*10000 U0-14 (0000~9999)*1 Command Position feedback pulse U0-15 (0000~65535)*10000 U0-16 (0000~9999)*1 Encoder accumulated Encoder pulse position U0-17 (0000~65535)*10000 U0-18 Torque current 0.01A U0-19 Analog input V-REF value 0.01V U0-20...
  • Page 143 U1-12 Running error numbers, count from power on this time U1-13 Running warning numbers, count from power on this time U1-14 History alarm numbers U1-15 History warn numbers U1-16 The second time alarm code recently U1-17 The third time alarm code recently U1-18 The fourth time alarm code recently U1-19...

  • Page 144: Appendix 3 Fx-Xx Auxiliary Function

    Appendix 3 FX-XX auxiliary function Effective Reference chapter Function code Explanation ○ Clear the alarm F0-00 ○ Restore the factory setting F0-01 ○ Clear the position deviation F0-02 ○ F1-00 ○ Test run F1-01 ○ Current sampling zero F1-02 correction ○...
  • Page 145 P1-11 0x010B P1-26 0x011A P1-12 0x010C P1-27 0x011B P1-13 0x010D P1-28 0x011C P1-14 0x010E Parameter Modbus address Modbus Modbus address address Decimal Decimal P2-00 0x0200 P2-15 0x20F P2-01 0x0201 P2-16 0x210 Parameter Modbus address Modbus Modbus address address Decimal Decimal P3-00 0x0300 P3-19...
  • Page 146 P5-16 0x0510 1296 P5-43 0x052B 1323 P5-17 0x0511 1297 P5-44 0x052C 1324 P5-18 0x0512 1298 P5-45 0x052D 1325 P5-19 0x0513 1299 P5-46 0x052E 1326 P5-20 0x0514 1300 P5-47 0x052F 1327 P5-21 0x0515 1301 P5-48 0x0530 1328 P5-22 0x0516 1302 P5-49 0x0531 1329 P5-23...

  • Page 147: Appendix 5 General Debug Steps

    Parameter Modbus address Parameter Modbus address Decimal Decimal U1-00 0x1100 4352 U2-00 0x1200 4608 U1-01 0x1101 4353 U2-01 0x1201 4609 U1-02 0x1102 4354 U2-02 0x1202 4610 U1-03 0x1103 4355 U2-03 0x1203 4611 U1-04 0x1104 4356 U2-04 0x1204 4612 U1-05 0x1105 4357 U2-05 0x1205...

  • Page 148: Appendix 6 Application

    Press Motor reverse run Keep press ENTER Press ENTER F1-01 Press Motor forward run Press STA/ESC Press STA/ESC F1-01 (3) jog run: enter parameter F1-00. Press ENTER to enable the motor. Press INC to jog forward run the motor, press DEC to jog reverse run the motor. Press STATUS/ESC to end the enable and exit the jog state.
  • Page 149 output torque will increase. It needs to use torque limit (P4-02, P4-03) and torque limit output signal /CLT. 3. As the dimension of workpiece is larger than standard, offset pulse will remain in servo when the symmetrical point is found. /CLR signal can clear the pulse. The servo motor running distance is different from PLC pulse number.

  • Page 150: Appendix 7 Compatible Table Of Servo And Motor

    Enable Reverse run (d) Current check offset auto-adjustment Enter F1-02, it shows rEF. Press ENTER, it shows rEF and flickers. After 5s the auto-adjustment finished, it shows donE. Press STATUS/ESC to exit. 2. Debug the motor with machine (a) Check the motor rotation direction, if it is reverse from the actual needs, set servo force OFF. Then set P0-05 to 1, re-power on the servo.
  • Page 151 DS3L-45P5-PQA 1161(2151/ MS-180ST-M27015-44P3 0151 1162(1152/ MS-180ST-M35015-45P5 0152) DS3-47P5-PQA MS-180ST-M48015-47P5 1163(0153) DS3L-47P5-PQA DS3-411P0-PQA MS-220ST-M70015-411P0 1157 17-bit absolute encoder servo system Servo drive Motor model Cable type Encoder type DS3-20P2-PNA MS-60ST-T00630B-20P2 Encoder cable: CP-DP-B-02 MS-60ST-T00630BZ-20P2 Power supply cable: CM-P07-02 20-bit absolute DS3-20P4-PNA MS-60ST-T01330B-20P4 (note: 02 means the length is 2 encoder...
  • Page 152 WUXI XINJE ELECTRIC CO., LTD. 4th Floor Building 7,Originality Industry park, Liyuan Development Zone, Wuxi City, Jiangsu Province 214072 Tel: (510) 85134136 Fax: (510) 85111290 www.xinje.com...

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